extrinsic
-0.115172 -0.0588446 -0.991601 -0.204023
0.243173 -0.96954 0.0292915 -0.223226
-0.963121 -0.237758 0.125973 1.17453
0.0 0.0 0.0 1.0

intrinsic
1164.45 0 962.83
0 1164.45 541.898
0 0 1

0.716251 0.0126331 768 10.4185
